Obbart/universal_robots_ros_driver
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Implemented optional headless mode that directly sends the robot program via its interface, avoiding URCaps usage

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This commit is contained in:
Tristan Schnell
2019-09-26 12:15:25 +02:00
committed by Felix Mauch
parent 74e98d6af1
commit ea0908ed58
11 changed files with 74 additions and 8 deletions
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2
ur_rtde_driver/launch/ur5e_bringup.launch
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@@ -18,6 +18,7 @@
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
<arg name="headless_mode" default="false"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>
@@ -30,6 +31,7 @@
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
<arg name="headless_mode" value="$(arg headless_mode)"/>
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
<arg name="tool_parity" value="$(arg tool_parity)"/>
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>